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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Andrea Berra Viswa Narayanan Sankaranarayanan Achilleas Santi Seisa Julien Mellet Udayanga G.W.K.N. Gamage Sumeet Gajanan Satpute Fabio Ruggiero Vincenzo Lippiello Silvia Tolu Matteo Fumagalli George Nikolakopoulos Miguel Ángel Trujillo Soto Guillermo Heredia CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Electrical and Space Engineering Robotics and AI Team Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.

关键词： Visualization Pose estimation Neural networks Lighting Object detection Autonomous aerial vehicles Aircraft navigation

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Julien Mellet Andrea Berra Achilleas Santi Seisa Viswa Sankaranarayanan Udayanga G.W.K.N. Gamage Miguel Ángel Trujillo Soto Guillermo Heredia George Nikolakopoulos Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Robotics and AI Team Electrical and Space Engineering LuleåUIniversity of Technology Luleå Sweden Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.

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Design and Development of IoT Based Weather and Air Quality Monitoring Station

Design and Development of IoT Based Weather and Air Quality ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Haris Bilal Ubaid Uzma Bibi Ameer Said Syed Najm us Saqib Shahbaz Khan Muhammad Tufail Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance.

关键词： Temperature sensors Cloud computing Wind speed Transportation Air quality Sensors Internet of Things

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

arXiv

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arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

关键词： Unmanned aerial vehicles (UAV)

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

arXiv

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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

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UAV Forest Fire Detection based on RepVGG-YOLOv5

UAV Forest Fire Detection based on RepVGG-YOLOv5

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Song, Kang Zhang, Yueyuan Lu, Bo Chi, Wenzheng Sun, Lining Department of Automation Engineering School of Mechanical and Electrical Engineering Soochow University Suzhou215137 China Ningbo Institute of Materi-als Technology & Engineering Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo315201 China Soochow University Robotics and Microsystems Center School of Mechanical and Electrical Engineering Suzhou215137 China

ISBN: (纸本)9781665481090

The safety of forest resources is of great im-portance to natural and public safety, and the efficient and accurate detection of forest fires is an issue of close concern. Considering the limitations of traditional forest fire detection methods, such as the limited range of view from watchtowers and insufficient resolution of satellite images, a deep learning-based Unmanned Aerial Vehicle (UAV) fire detection system has been proposed. With its high mobility, images of forest fires can be captured by camera-equipped UAV and transmitted to the ground station in real time. The ground station uses a deep learning object detection algorithm to achieve the recognition of fire. In this paper, we choose the state-of-the-art object detection algorithm YOLOv5 for the UAV forest fire detection scenario, and to further improve the detection performance of YOLOv5, we propose RepVGG-YOLOv5 by drawing on the RepVGG network, a training-time multi-branch topology with an inference-time plain architecture. Then we test the models on a self-built dataset, and the experimental results show that the improved RepVGG-YOLOv5 model outperforms the YOLOv5 model in terms of detection performance and detection speed, which proves the feasibility of this paper's model in the UAV forest fire detection systems and the effectiveness of the model improvement. Furthermore, the great potential of this paper's object detection model for real-time applications of accurate forest fire detection has also been demonstrated. © 2022 IEEE.

关键词： Object detection

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Simulation Model for Loss Measurement of electrical Steel and Study on the Influence of Harmonics 6

Simulation Model for Loss Measurement of Electrical Steel an...

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6th IEEE Student Conference on Electric Machines and Systems, SCEMS 2023

作者： Guo, Shoulun Gao, Bo Lin, Zhanxi Yin, Xiangrui Zhao, Tianxu Cheng, Yuan Faw Research and Development Institute Motor and Electric Drive Development Department Changchun130000 China Harbin Institute of Technology School of Electrical Engineering and Automation Harbin150001 China Chongqing Research Institute of Hit Advanced Special Motor Research Center Chongqing401135 China

ISBN: (纸本)9798350329346

In order to calculate the motor core loss accurately, it is usually necessary to test the loss characteristics of the electrical steel (silicon steel), including the specific loss under different frequencies and different flux densities, that is, the loss per unit volume or unit weight. Some samples of specific shapes need to be made before testing, and the testing is time-consuming. The finite element simulation can be used to replace the testing work to a certain extent, thus reducing the material cost and labor cost. In this paper, a simulation model for annular silicon steel sheet is constructed, and its accuracy is verified by comparing with the tested results. On this basis, the influence of flux density harmonics on core loss can be studied. © 2023 IEEE.

关键词： Silicon steel

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CushionCatch: A Compliant Catching Mechanism for Mobile Manipulators via Combined Optimization and Learning

arXiv

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arXiv 2024年

作者： Chen, Bingjie Fan, Keyu Yang, Qi Cheng, Yi Liu, Houde Dong, Kangkang Xia, Chongkun Han, Liang Liang, Bin Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen518055 China Jianghuai Advanced Technology Center Hefei230000 China University of Science and Technology of China Hefei23000 China School of Advanced Manufacturing Sun Yat-Sen University Shenzhen518055 China School of Electrical and Automation Engineering Hefei University of Technology Hefei230009 China Navigation and Control Research Center Department of Automation Tsinghua University Beijing100084 China

Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant catching on mobile manipulators (CCMM). First, we propose a high-level capture planner for mobile manipulators (MM) that calculates the optimal capture point and joint configuration. Next, the pre-catching (PRC) planner ensures the robot reaches the target joint configuration as quickly as possible. To learn compliant catching strategies, we propose a network that leverages the strengths of LSTM for capturing temporal dependencies and positional encoding for spatial context (P-LSTM). This network is designed to effectively learn compliant strategies from human demonstrations. Following this, the post-catching (POC) planner tracks the compliant sequence output by the P-LSTM while avoiding potential collisions due to structural differences between humans and robots. We validate the CCMM framework through both simulated and real-world ball-catching scenarios, achieving a success rate of 98.70% in simulation, 92.59% in real-world tests, and a 28.7% reduction in impact torques. The open source code will be released for the reference of the community1 Copyright © 2024, The Authors. All rights reserved.

关键词： Open source software

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Design of TeleHaptic Simulators for Various Control Architectures

Design of TeleHaptic Simulators for Various Control Architec...

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International Conference on Computing, Mathematics and Engineering Technologies (iCoMET)

作者： Falaq Qureshi Riaz Uddin Department of Electrical Engineering Haptics Human-Robotics and Condition Monitoring Lab (affiliated with National Center of Robotics and Automation - NCRA HEC/PC Pakistan) NED University of Engineering and Technology Karachi Pakistan

In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral teleoperation. They are used to analyze the results of force and distance tracking graphs in free motion and contact mode obtained from various control models by varying dynamics of master, slave, environment, and communication channel. In this regard, different force reflecting teleoperation control architectures are simulated via proposed model design, such as two-channel (2C) architectures, three-channel (3C) and finally four-channel (4C) architecture. These benchmark results are presented for each architecture via MATLAB/Simulink-based simulator.

关键词： Tracking Computational modeling Force Dynamics Computer architecture Benchmark testing Mathematical models

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Engineering vascularised organoid-on-a-chip:strategies,advances and future perspectives

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Biomaterials Translational 2024年第1期5卷 21-32页

作者： Zhangjie Li Dingyuan Yu Chenyang Zhou Feifan Wang Kangyi Lu Yijun Liu Jiaqi Xu Lian Xuan Xiaolin Wang Department of Micro/Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghaiChina Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghaiChina National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai Jiao Tong UniversityShanghaiChina National Center for Translational Medicine(Shanghai)SHU Branch Shanghai UniversityShanghaiChina

In recent years,advances in microfabrication technology and tissue engineering have propelled the development of a novel drug screening and disease modelling platform known as *** platform integrates organoids and organ-on-a-chip technologies,emerging as a promising approach for in vitro modelling of human organ ***-on-a-chip devices leverage microfluidic systems to simulate the physiological microenvironment of specific organs,offering a more dynamic and flexible setting that can mimic a more comprehensive human biological ***,the lack of functional vasculature has remained a significant challenge in this *** is crucial for the long-term culture and in vitro modelling of organoids,holding important implications for drug development and personalised medical *** review provides an overview of research progress in developing vascularised organoid-on-a-chip models,addressing methods for in vitro vascularisation and advancements in vascularised *** aim is to serve as a reference for future endeavors in constructing fully functional vascularised organoid-on-a-chip platforms.

关键词： drug screening microfluidic chip organoids tissue engineering vascularisation

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